Nevertheless, the dynamics of most systems of interest are better modeled by nonlinear equations and constraints are often nonconvex. This situation is very common in obstacle avoidance involving nonconvex optimization problems. These are commonly solved using sequential quadratic programming (SQP) [1]} and interior point (IP) methods [2]} which are not well-suited for embedded applications with tight runtime requirements. Nonlinear MPC is often performed using the real-time iteration scheme proposed in [3]} which trades speed for accuracy and is accompanied by global convergence guarantees under certain assumptions.
